Time optimal trajectory planning in dynamic environments

This paper presents a method for motion planning in dynamic environments, subject to robot dynamics and actuator constraints. The time optimal trajectory is computed by first generating an initial guess using the concept of velocity obstacle. The initial guess, computed by a global search over a tree of avoidance maneuvers, is then optimized using a dynamic optimization. This method is applicable to repetitive tasks in known dynamic environments, as is demonstrated for a planar robot manipulator